CN104444177B - The driver element of transport vehicle and transport vehicle - Google Patents
The driver element of transport vehicle and transport vehicle Download PDFInfo
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- CN104444177B CN104444177B CN201410748814.3A CN201410748814A CN104444177B CN 104444177 B CN104444177 B CN 104444177B CN 201410748814 A CN201410748814 A CN 201410748814A CN 104444177 B CN104444177 B CN 104444177B
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- driving
- driver element
- bending part
- lower carriage
- transport vehicle
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Abstract
The invention discloses driver element and the transport vehicle of a kind of transport vehicle, including for connection transportation vehicle carriage driving upper bracket and drive lower carriage, described driving lower carriage be rotatably connected on drive upper bracket lower section；Also include the pre-multiple elastic devices being pressed in and driving between upper bracket, driving lower carriage, the plurality of elastic device is at least respectively arranged with an elastic device and is distributed in the both sides driving lower carriage pivot center；Also including being rotatably connected on the drive wheel bracket driven on lower carriage, the both sides of described drive wheel bracket are respectively provided with a driving wheel being controlled by motor.The driver element of the present invention, replaces the driving structure of former upper low suspension with rigid support, can dolly load be applied directly on driving wheel.Driver element itself or front BOGEY WHEEL, about half load of bearing body so that it is earth-grasping force is greatly improved, under the motor of certain power, climbing and crossing the ability of ditch is also greatly improved.
Description
Technical field
The present invention relates to a kind of AGV transport vehicle, the invention still further relates to the driver element in a kind of transport vehicle.
Background technology
In current AGV (Automated Guided Vehicle) industry, driver element form is many
Sample, but its structure there is no bigger difference, is substantially the driver element by band damping and pulls load, its
Damping is only embodied in above-below direction, with two universal front-wheels, two orientation trailing wheel with the use of, this
Kind of body construction determines its driving force and will not change because of the increase of load so that each during heavy load
Item operational factor is deteriorated, and causes vehicle controllable to reduce；Additionally, dolly zero load needs six to take turns or eight take turns can
Recumbently, determining its spring precommpression little, driving wheel pressure is also little, the Factory Building that completed or
There is multiple undesirable factor in workshop, such as slope, trough etc., and dolly is crossing ditch or climbing
Time, driver element earth-grasping force can decline to a great extent, the most unsettled, controllability extreme difference.
Summary of the invention
The present invention is to solve problems of the prior art, it is provided that the driving list of a kind of transport vehicle
Unit.
In order to realize above-mentioned purpose, the technical scheme is that the driver element of a kind of transport vehicle,
Including the driving upper bracket for connection transportation vehicle carriage, and drive lower carriage, described driving
Lower carriage is rotatably connected on the lower section driving upper bracket；Also include pre-being pressed under driving upper bracket, driving
Multiple elastic devices between support, are at least respectively arranged with an elastic device and divide in the plurality of elastic device
Cloth is driving the both sides of lower carriage pivot center；
Also include being rotatably connected on the drive wheel bracket driven on lower carriage, the two of described drive wheel bracket
Side is respectively provided with a driving wheel being controlled by motor.
Preferably, described driving upper bracket includes upper substrate, and is positioned at the first of upper substrate both sides
Bending part；Described driving lower carriage includes infrabasal plate, and is positioned at the second bending part of infrabasal plate both sides,
Described first bending part and the second bending part are linked together by axis of rotation.
Preferably, described rotating shaft one end and the second bending part Flange joint, the other end penetrates the first folding
In the through hole of turn of bilge.
Preferably, the lower end of described infrabasal plate is additionally provided with a support plate；Described drive wheel bracket rotates
It is connected to the lower end of described support plate.
Preferably, the sidewall of described support plate is additionally provided with stop block；Set in described drive wheel bracket
It is equipped with the lobe for coordinating with stop block.
Preferably, described drive wheel bracket being rotatably connected to sprocket wheel, described sprocket wheel is defeated with motor
Go out end to be directly connected to；Described sprocket wheel is connected with driving wheel by chain.
Preferably, described elastic device is spring.
Preferably, described infrabasal plate is provided with the spring guide pillar for being socketed lower spring end；Described
Upper substrate is provided with adjustment screw, and the lower end of described adjustment screw is fixed with and penetrates for spring upper end
Spring spool.
Preferably, it is provided with multiple triangle between described infrabasal plate and the second bending part and strengthens perpendicular muscle,
Described triangle is strengthened perpendicular muscle and is extended to infrabasal plate for connecting the position of a support plate from the second bending part.
Present invention also offers a kind of transport vehicle, including above-mentioned driver element.
The driver element of the present invention, replaces the driving structure of former upper low suspension, makes transport vehicle with rigid support
Vehicle frame is at unloaded and full load, and object stage will not occur the phenomenon that height rises and falls, and can be by dolly
Load is applied directly on driving wheel.Under the regulation of control system, when two driving wheels keep constant speed,
Straight ahead；Turn to during two wheel guide robot.Driver element itself or front BOGEY WHEEL, bearing body
The load of about half so that it is earth-grasping force is greatly improved, under the motor of certain power, climbing and
The ability crossing ditch is also greatly improved.
Accompanying drawing explanation
Fig. 1 shows the structural representation of adaptive mechanism of the present invention.
Fig. 2 shows the profile of Fig. 1.
Fig. 3 shows that the present invention drives the structural representation of lower carriage.
Fig. 4 shows that the present invention drives the structural representation of upper bracket.
Fig. 5 shows the structural representation of driver element of the present invention.
Fig. 6 shows the structural representation of transport vehicle of the present invention.
Wherein: 1-drives upper bracket, 2-to drive lower carriage, 3-to prop up support plate, 4-locking nut, 5-bullet
Spring sleeve, 6-spring, 7-stop block, 8-lining, 9-adjust screw, 10-infrabasal plate, 11-second
Bending part, 12-strip reinforcement, 13-spring guide pillar, 14-triangle strengthen perpendicular muscle, the upper base of 15-
Plate, 16-the first bending part, 17-through hole, 18-transport vehicle vehicle frame, 19-driver element, 20-driving wheel
Support, 21-driving wheel, 22-chain, 23-sprocket wheel, 24-lobe, 25-rotating shaft.
Detailed description of the invention
In order to the technique effect of the technical scheme making to present invention solves the technical problem that, use, acquirement is easy
In understanding, below in conjunction with concrete accompanying drawing, the detailed description of the invention of the present invention is described further.
With reference to Fig. 1, the invention provides the adaptive mechanism in a kind of transport vehicle driver element, should be certainly
Adapting to mechanism is the attachment structure between transport vehicle vehicle frame and transport vehicle driving wheel, and it includes driving upper
Frame 1 and driving lower carriage 2, described driving lower carriage 2 is rotatably connected on driving upper bracket 1 time
Side, constitutes the support housing of adaptive mechanism of the present invention.
Wherein, drive upper bracket 1 to be used for fixing connection transportation vehicle carriage, drive lower carriage 2 for solid
Determine the driving wheel of connection transportation car.In one specific embodiment of the present invention, with reference to Fig. 4, institute
State driving upper bracket 1 and include the upper substrate 15 for fixing connection transportation vehicle carriage, and be positioned at base
First bending part 16 of plate 15 both sides, this first bending part 16 can be one-body molded with upper substrate 15,
It can be such as the downward bending at upper substrate 15 edge；Described driving lower carriage 2 includes infrabasal plate 10,
And it being positioned at the second bending part 11 of infrabasal plate 10 both sides, this second bending part 11 can be with infrabasal plate 10
One-body molded, can be such as being folded upward at of infrabasal plate 10 edge, with reference to Fig. 3.Install time
Waiting, described first bending part 16 and the second bending part 11 are rotatably connected by rotating shaft 25, from
And achieve and drive upper bracket 1 and drive being rotationally connected between lower carriage 2 so that both along turning
Axle 25 can relatively rotate, and when being in poised state, infrabasal plate 10 substantially keeps flat with upper substrate 15
OK.
Can be to use mode well-known to those skilled in the art by first bending part the 16, second bending part
11, rotating shaft 25 installs, in an embodiment of the present invention, and one end and second of described rotating shaft 25
Bending part 11 Flange joint, to avoid the situation of bad welding after quenching, and can preferably ensure
The axiality at two ends.The other end of rotating shaft 25 penetrates in the through hole 17 of the first bending part 16, with reference to figure
2.For the ease of assembling, the through hole 17 of described first bending part 16 takes the shape of the letter U, through to the first bending
The lower end in portion 16.The when of installation, first by the sidewall of one end of rotating shaft 25 Yu the second bending part 11
Rotating shaft 25 together, is then pressed into from the opening part of through hole 17, and uses securing member by Flange joint
It is fixed.It may further be preferable that the through hole 17 of described first bending part 16 is additionally provided with lining
8, to avoid the abrasion between rotating shaft 25 and through hole 17.
The adaptive mechanism of the present invention, also include pre-be pressed in driving upper bracket 1, drive lower carriage 2 it
Between multiple elastic devices, concrete general, be provided with multiple between upper substrate 15 and infrabasal plate 10
The elastic device of precompressed.In one specific embodiment of the present invention, elastic device uses spring 6,
Other elastic device well-known to those skilled in the art can certainly be used, existing with two springs 6
As a example by illustrate.
One end of spring 6 connects upper substrate 15, and the other end connects infrabasal plate 10, and is in precompressed shape
State.Wherein, two springs 6 are separately positioned on the both sides of infrabasal plate 10 pivot center, specifically, two
Individual spring 6 can be symmetrical with pivot center, it is also possible to is arranged on the diagonal of infrabasal plate 10
On.When the quantity of spring 6 is more, need to ensure in the both sides of infrabasal plate 10 pivot center at least
It is respectively arranged with a spring 6, it is preferred that the total dynamics of precompressed of pivot center two lateral spring is consistent, to protect
Card infrabasal plate 10 keeps balance with upper substrate 10 when original state.
The adaptive mechanism of the present invention, is driving the lower end mounting transport vehicle driving wheel of lower carriage 2,
Through roughness pavement, such as road surface is high, and when road surface is low on one side, infrabasal plate 10 can occur partially
Turn, one end that road surface is high turn to low one end, road surface, finally make two driving wheels produce differential seat angles,
Thus remain that the wheel of transport vehicle contacts with ground, make transport vehicle workbench remain horizontal
State；In the traveling process of transport vehicle, remain that four-wheel grabs ground so that transport vehicle runs more steady,
Controllability is higher, and different from tradition non-bearing driver element, it is provided that bigger earth-grasping force and driving
Ability.
The adaptive mechanism of the present invention, the pretightning force that spring produces the most afterwards can undertake in rotating shaft 25
Suffered pressure.It is to say, the unidirectional big stress making rotating shaft 25 receive becomes two-way little stress,
Pressure suffered by rotating shaft when greatly reducing full-load run, and two-way little reversed of stress frequency is extremely low,
The destruction of material can be ignored by alternate stress, thus reduces rotating shaft 25 stress, reduce material abrasion and
Destroy, greatly improve the service life of rotating shaft and lining.
Those skilled in the art can use existing structure to install spring 6, in the present invention, in institute
State the spring guide pillar 13 being provided with on infrabasal plate 10 for being socketed spring 6 lower end；Described upper substrate 15
Being provided with adjustment screw 9, this adjustment screw 9 screws in upper substrate 15 from the upper end of upper substrate 15
End, the lower end at described adjustment screw 9 is fixed with the spring spool 5 penetrated for spring 6 upper end.
The when of installation, the lower end of spring 6 is enclosed within spring guide pillar 13, and upper end penetrates in spring spool 5.
Can rise or fall with driving spring sleeve 5 by rotating adjustment screw 9, thus reach to regulate spring
The effect of 6 pretightning forces, certainly, in order to prevent from adjusting the play voluntarily of screw 9, is adjusting screw 9
On locking nut 4 also can be set, this belongs to existing technology, no longer illustrates at this.
Present invention also offers the driver element 19 of a kind of transport vehicle, with reference to Fig. 5, including above-mentioned from
Adapt to mechanism, wherein, be rotationally connected a drive wheel bracket 20 in the lower end of described driving lower carriage 2,
The driving wheel 21 being controlled by motor it is provided with in the both sides of this drive wheel bracket 20.
The installation of driving wheel 21 can such as arrange one to use mode well-known to those skilled in the art
Crossing the fixing axle at drive wheel bracket 20 two ends, two driving wheels 21 are rotatably connected on fixing axle respectively
Two ends.Two motors are set in drive wheel bracket 20, drive two driving wheels 21 respectively.?
In one specific embodiment of the present invention, described drive wheel bracket 20 is rotatably connected to sprocket wheel
23, this sprocket wheel 23 is directly connected to the output shaft of motor, and described sprocket wheel 23 is by chain 22 and driving
Wheel 21 links together, the moment of torsion of motor output, is transferred to driving wheel through sprocket wheel 23, chain 22
On 21.
The driver element of the present invention, through roughness pavement, due to the rotation of infrabasal plate, makes two
Individual driving wheel produces differential seat angle, thus keeps the wheel of transport vehicle to contact with ground, makes transport vehicle work
Platform remains level；In the traveling process of transport vehicle, remain that four-wheel grabs ground so that fortune
Defeated car runs more steady, and controllability is higher, and different from tradition non-bearing driver element, it is provided that
Bigger earth-grasping force and driving force.When needs are turned when, the moment of torsion that two motor output is different,
Make that one of them driving wheel rotating speed is big, a driving wheel rotating speed is little, thus realize the action turned.
The driver element of the present invention, replaces the driving structure of former upper low suspension, makes transport vehicle with rigid support
Vehicle frame is at unloaded and full load, and object stage will not occur the phenomenon that height rises and falls, and can be by dolly
Load is applied directly on driving wheel.Under the regulation of control system, when two driving wheels keep constant speed,
Straight ahead；Turn to during two wheel guide robot.Driver element itself or front BOGEY WHEEL, bearing body
The load of about half so that it is earth-grasping force is greatly improved, under the motor of certain power, climbing and
The ability crossing ditch is also greatly improved.
In one preferred embodiment of the invention, the lower end of described infrabasal plate 10 is additionally provided with support
Dish 3, this support plate 3 has the inner chamber of hollow, is rotationally connected drive wheel bracket by this support plate 3
20, further, the sidewall of described support plate 3 is additionally provided with stop block 7, described drive wheel bracket
It is provided with the lobe 24 for coordinating with stop block 7 on 20, prevents drive wheel bracket 20 transition from turning
The dynamic potential safety hazard brought.
Reference Fig. 6, a kind of transport vehicle that the present invention provides, including transport vehicle vehicle frame 18, wherein,
The front end of transport vehicle vehicle frame 18 uses above-mentioned driver element 19, and rear end uses two directional wheels.Adopt
With the driver element 19 of said structure, considerably simplify the structure of transport vehicle, relative to biography
The driver element of system is at unloaded and the changeless driving force of full load, and this driver element 19 can be with load
Increasing and bigger frictional force is provided, and the adaptive structure in this driver element can remain four
Wheel landing, and can stablize by the rough ground in little scope.
For ensure this adaptive mechanism can keep under big load (such as 300kg) higher rigidity with
Reliability, improves its security performance and service life, described infrabasal plate 10 and the second bending part 11 it
Between be provided with multiple triangle and strengthen perpendicular muscle 14, described triangle strengthens perpendicular muscle 14 from the second bending part
11 extend on infrabasal plate 10 for connecting the position of a support plate 3.Certainly, at infrabasal plate 10
Edge strip reinforcement 12 also can be set, greatly improve rigidity and the security performance of sheet metal component,
Service life is greatly improved.
The present invention is by preferred embodiment having carried out detailed explanation.But, by above
Study carefully, to the change of each embodiment with to increase be aobvious for those of ordinary skill in the art
And be clear to.Want it is intended that all these change and increase all fall in right of the present invention
Ask in protected scope.
Claims (9)
1. the driver element of a transport vehicle, it is characterised in that:
Including the driving upper bracket (1) for connection transportation vehicle carriage, and drive lower carriage (2), institute
State and drive lower carriage (2) to be rotatably connected on the lower section driving upper bracket (1)；Also include pre-being pressed in driving
Multiple elastic devices between support (1), driving lower carriage (2), in the plurality of elastic device at least
It is respectively arranged with an elastic device and is distributed in the both sides driving lower carriage (2) pivot center；
Also include being rotatably connected on the drive wheel bracket (20) driven on lower carriage (2), described driving wheel
The both sides of support (20) are respectively provided with a driving wheel (21) being controlled by motor；
Wherein, described driving upper bracket (1) includes upper substrate (15), and is positioned at upper substrate (15) both sides
The first bending part (16)；Described driving lower carriage (2) includes infrabasal plate (10), and is positioned at infrabasal plate
(10) second bending part (11) of both sides, described first bending part (16) and the second bending part (11) pass through
Rotating shaft (25) is rotatably connected.
Driver element the most according to claim 1, it is characterised in that: described rotating shaft (25) one end
With the second bending part (11) Flange joint, the other end penetrates in the through hole (17) of the first bending part (16).
Driver element the most according to claim 1, it is characterised in that: described infrabasal plate (10)
Lower end be additionally provided with support plate (3)；Described drive wheel bracket (20) is rotatably connected on described support
The lower end of dish (3).
Driver element the most according to claim 3, it is characterised in that: described support plate (3)
Sidewall be additionally provided with stop block (7)；Be provided with in described drive wheel bracket (20) for backstop
The lobe (24) that block (7) coordinates.
Driver element the most according to claim 1, it is characterised in that: described drive wheel bracket (20)
On be rotatably connected to sprocket wheel (23), described sprocket wheel (23) is directly connected to the outfan of motor；Institute
State sprocket wheel (23) to be connected with driving wheel (21) by chain (22).
Driver element the most according to claim 1, it is characterised in that: described elastic device is bullet
Spring (6).
Driver element the most according to claim 6, it is characterised in that: described infrabasal plate (10)
On be provided with the spring guide pillar (13) for being socketed spring (6) lower end；Described upper substrate (15) sets
Being equipped with adjustment screw (9), the lower end of described adjustment screw (9) is fixed with for spring (6)
The spring spool (5) that end penetrates.
Driver element the most according to claim 7, it is characterised in that: described infrabasal plate (10)
And it is provided with multiple triangle between the second bending part (11) and strengthens perpendicular muscle (14), described triangle
Strengthen perpendicular muscle (14) to extend to be used for connecting support infrabasal plate (10) from the second bending part (11)
The position of dish (3).
9. a transport vehicle, including the driving list of the transport vehicle as described in any one of claim 1 to 8
Unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410748814.3A CN104444177B (en) | 2014-12-09 | 2014-12-09 | The driver element of transport vehicle and transport vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410748814.3A CN104444177B (en) | 2014-12-09 | 2014-12-09 | The driver element of transport vehicle and transport vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104444177A CN104444177A (en) | 2015-03-25 |
| CN104444177B true CN104444177B (en) | 2016-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410748814.3A Active CN104444177B (en) | 2014-12-09 | 2014-12-09 | The driver element of transport vehicle and transport vehicle |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105292971A (en) * | 2015-11-19 | 2016-02-03 | 成都立航科技有限公司 | All-direction AGV wheel train |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202880390U (en) * | 2012-09-17 | 2013-04-17 | 上海宝信软件股份有限公司 | Anti-corrosion device applied to transport vehicle automatically moving on circular rail |
| CN103899729A (en) * | 2014-03-24 | 2014-07-02 | 广州市远能物流自动化设备科技有限公司 | Differential driving device |
| CN203793061U (en) * | 2014-03-18 | 2014-08-27 | 东莞市瑞鹏机器人自动化有限公司 | Shock-absorption mechanism of AGV driving unit |
| CN104118292A (en) * | 2014-08-13 | 2014-10-29 | 成都四威高科技产业园有限公司 | Integrated AGV driving and lifting mechanism |
| CN204310396U (en) * | 2014-12-09 | 2015-05-06 | 潍坊路加精工有限公司 | The driver element of transport trolley and transport trolley |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE521330C2 (en) * | 2002-02-07 | 2003-10-21 | Ocs Overhead Conveyor Sys Ab | Hang Transport |
-
2014
- 2014-12-09 CN CN201410748814.3A patent/CN104444177B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202880390U (en) * | 2012-09-17 | 2013-04-17 | 上海宝信软件股份有限公司 | Anti-corrosion device applied to transport vehicle automatically moving on circular rail |
| CN203793061U (en) * | 2014-03-18 | 2014-08-27 | 东莞市瑞鹏机器人自动化有限公司 | Shock-absorption mechanism of AGV driving unit |
| CN103899729A (en) * | 2014-03-24 | 2014-07-02 | 广州市远能物流自动化设备科技有限公司 | Differential driving device |
| CN104118292A (en) * | 2014-08-13 | 2014-10-29 | 成都四威高科技产业园有限公司 | Integrated AGV driving and lifting mechanism |
| CN204310396U (en) * | 2014-12-09 | 2015-05-06 | 潍坊路加精工有限公司 | The driver element of transport trolley and transport trolley |
Also Published As
| Publication number | Publication date |
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| CN104444177A (en) | 2015-03-25 |
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